{"id":526,"date":"2026-03-03T18:58:41","date_gmt":"2026-03-03T09:58:41","guid":{"rendered":"https:\/\/robolease.disr-inc.com\/?p=526"},"modified":"2026-03-03T19:01:54","modified_gmt":"2026-03-03T10:01:54","slug":"%e3%80%90how-to%e3%80%91tensorboard%e3%82%92%e4%bd%bf%e7%94%a8%e3%81%97%e3%81%9f%e5%ad%a6%e7%bf%92%e7%8a%b6%e6%b3%81%e3%81%ae%e7%a2%ba%e8%aa%8d%e6%96%b9%e6%b3%95","status":"publish","type":"post","link":"https:\/\/robolease.disr-inc.com\/?p=526","title":{"rendered":"\u3010How to\u3011Tensorboard\u3092\u4f7f\u7528\u3057\u305f\u5b66\u7fd2\u72b6\u6cc1\u306e\u78ba\u8a8d\u65b9\u6cd5"},"content":{"rendered":"\n<div class=\"wp-block-jetpack-markdown\"><div id=\"ez-toc-container\" class=\"ez-toc-v2_0_74 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u76ee\u6b21<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/robolease.disr-inc.com\/?p=526\/#%E7%9B%AE%E6%AC%A1\" >\u76ee\u6b21<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/robolease.disr-inc.com\/?p=526\/#%E5%88%9D%E3%82%81%E3%81%AB\" >\u521d\u3081\u306b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/robolease.disr-inc.com\/?p=526\/#%E8%A8%93%E7%B7%B4%E3%81%97%E3%81%A6%E3%81%BF%E3%82%8B\" >\u8a13\u7df4\u3057\u3066\u307f\u308b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/robolease.disr-inc.com\/?p=526\/#Tensorboard%E3%81%A7%E8%A8%93%E7%B7%B4%E3%81%8C%E9%80%B2%E3%82%93%E3%81%A7%E3%81%84%E3%82%8B%E3%81%8B%E7%A2%BA%E8%AA%8D%E3%81%97%E3%82%88%E3%81%86\" >Tensorboard\u3067\u8a13\u7df4\u304c\u9032\u3093\u3067\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3088\u3046<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/robolease.disr-inc.com\/?p=526\/#%E5%86%8D%E7%94%9F%E3%81%97%E3%81%A6%E3%81%BF%E3%82%8B\" >\u518d\u751f\u3057\u3066\u307f\u308b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/robolease.disr-inc.com\/?p=526\/#%E7%B5%82%E3%82%8F%E3%82%8A%E3%81%AB\" >\u7d42\u308f\u308a\u306b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/robolease.disr-inc.com\/?p=526\/#%E5%89%8D%E5%9B%9E%E3%81%AE%E8%A8%98%E4%BA%8B\" >\u524d\u56de\u306e\u8a18\u4e8b<\/a><\/li><\/ul><\/nav><\/div>\n<h1><span class=\"ez-toc-section\" id=\"%E7%9B%AE%E6%AC%A1\"><\/span>\u76ee\u6b21<span class=\"ez-toc-section-end\"><\/span><\/h1>\n<ul>\n<li>\n<p><a href=\"#%E5%88%9D%E3%82%81%E3%81%AB\">\u521d\u3081\u306b<\/a><\/p>\n<\/li>\n<li>\n<p><a href=\"#%E8%A8%93%E7%B7%B4%E3%81%97%E3%81%A6%E3%81%BF%E3%82%8B\">\u8a13\u7df4\u3057\u3066\u307f\u308b<\/a><\/p>\n<\/li>\n<li>\n<p><a href=\"#tensorboard%E3%81%A7%E8%A8%93%E7%B7%B4%E3%81%8C%E9%80%B2%E3%82%93%E3%81%A7%E3%81%84%E3%82%8B%E3%81%8B%E7%A2%BA%E8%AA%8D%E3%81%97%E3%82%88%E3%81%86\"><code>Tensorboard<\/code>\u3067\u8a13\u7df4\u304c\u9032\u3093\u3067\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3088\u3046<\/a><\/p>\n<\/li>\n<li>\n<p><a href=\"#%E5%86%8D%E7%94%9F%E3%81%97%E3%81%A6%E3%81%BF%E3%82%8B\">\u518d\u751f\u3057\u3066\u307f\u308b<\/a><\/p>\n<\/li>\n<li>\n<p><a href=\"#%E7%B5%82%E3%82%8F%E3%82%8A%E3%81%AB\">\u7d42\u308f\u308a\u306b<\/a><\/p>\n<\/li>\n<li>\n<p><a href=\"#%E5%89%8D%E5%9B%9E%E3%81%AE%E8%A8%98%E4%BA%8B\">\u524d\u56de\u306e\u8a18\u4e8b<\/a><\/p>\n<\/li>\n<\/ul>\n<h1><span class=\"ez-toc-section\" id=\"%E5%88%9D%E3%82%81%E3%81%AB\"><\/span>\u521d\u3081\u306b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n<p><a href=\"https:\/\/qiita.com\/ginyoku102\/items\/82cccef96d134bc16090\">\u524d\u56de\u306e\u8a18\u4e8b<\/a>\u3067IsaacLab\u3067\u306e\u5f37\u5316\u5b66\u7fd2\u74b0\u5883\u306e\u7de8\u96c6\u624b\u6cd5\u304c\u308f\u304b\u3063\u305f\u306e\u3067\u3001\u65e9\u901f\u5b9f\u969b\u306b\u5f37\u5316\u5b66\u7fd2\u3092\u884c\u3063\u3066\u3044\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\uff01<\/p>\n<h1><span class=\"ez-toc-section\" id=\"%E8%A8%93%E7%B7%B4%E3%81%97%E3%81%A6%E3%81%BF%E3%82%8B\"><\/span>\u8a13\u7df4\u3057\u3066\u307f\u308b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n<p>train.py\u306e\u5b9f\u884c\u30aa\u30d7\u30b7\u30e7\u30f3\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<pre><code class=\"language-bash\">usage: train.py [-h] [--video] [--video_length VIDEO_LENGTH] [--video_interval VIDEO_INTERVAL] [--num_envs NUM_ENVS] [--task TASK]\n                [--agent AGENT] [--seed SEED] [--distributed] [--checkpoint CHECKPOINT] [--max_iterations MAX_ITERATIONS]\n                [--export_io_descriptors] [--ml_framework {torch,jax,jax-numpy}] [--algorithm {AMP,PPO,IPPO,MAPPO}]\n                [--ray-proc-id RAY_PROC_ID] [--headless] [--livestream {0,1,2}] [--enable_cameras] [--xr] [--device DEVICE]\n                [--verbose] [--info] [--experience EXPERIENCE] [--rendering_mode {performance,balanced,quality}]\n                [--kit_args KIT_ARGS] [--anim_recording_enabled] [--anim_recording_start_time ANIM_RECORDING_START_TIME]\n                [--anim_recording_stop_time ANIM_RECORDING_STOP_TIME]\n\nTrain an RL agent with skrl.\n\noptions:\n  -h, --help            show this help message and exit\n  --video               Record videos during training.\n  --video_length VIDEO_LENGTH\n                        Length of the recorded video (in steps).\n  --video_interval VIDEO_INTERVAL\n                        Interval between video recordings (in steps).\n  --num_envs NUM_ENVS   Number of environments to simulate.\n  --task TASK           Name of the task.\n  --agent AGENT         Name of the RL agent configuration entry point. Defaults to None, in which case the argument --algorithm is\n                        used to determine the default agent configuration entry point.\n  --seed SEED           Seed used for the environment\n  --distributed         Run training with multiple GPUs or nodes.\n  --checkpoint CHECKPOINT\n                        Path to model checkpoint to resume training.\n  --max_iterations MAX_ITERATIONS\n                        RL Policy training iterations.\n  --export_io_descriptors\n                        Export IO descriptors.\n  --ml_framework {torch,jax,jax-numpy}\n                        The ML framework used for training the skrl agent.\n  --algorithm {AMP,PPO,IPPO,MAPPO}\n                        The RL algorithm used for training the skrl agent.\n  --ray-proc-id RAY_PROC_ID, -rid RAY_PROC_ID\n                        Automatically configured by Ray integration, otherwise None.\n\napp_launcher arguments:\n  Arguments for the AppLauncher. For more details, please check the documentation.\n\n  --headless            Force display off at all times.\n  --livestream {0,1,2}  Force enable livestreaming. Mapping corresponds to that for the `LIVESTREAM` environment variable.\n  --enable_cameras      Enable camera sensors and relevant extension dependencies.\n  --xr                  Enable XR mode for VR\/AR applications.\n  --device DEVICE       The device to run the simulation on. Can be &quot;cpu&quot;, &quot;cuda&quot;, &quot;cuda:N&quot;, where N is the device ID\n  --verbose             Enable verbose-level log output from the SimulationApp.\n  --info                Enable info-level log output from the SimulationApp.\n  --experience EXPERIENCE\n                        The experience file to load when launching the SimulationApp. If an empty string is provided, the experience\n                        file is determined based on the headless flag. If a relative path is provided, it is resolved relative to the\n                        `apps` folder in Isaac Sim and Isaac Lab (in that order).\n  --rendering_mode {performance,balanced,quality}\n                        Sets the rendering mode. Preset settings files can be found in apps\/rendering_modes. Can be &quot;performance&quot;,\n                        &quot;balanced&quot;, or &quot;quality&quot;. Individual settings can be overwritten by using the RenderCfg class.\n  --kit_args KIT_ARGS   Command line arguments for Omniverse Kit as a string separated by a space delimiter. Example usage:\n                        --kit_args &quot;--ext-folder=\/path\/to\/ext1 --ext-folder=\/path\/to\/ext2&quot;\n  --anim_recording_enabled\n                        Enable recording time-sampled USD animations from IsaacLab PhysX simulations.\n  --anim_recording_start_time ANIM_RECORDING_START_TIME\n                        Set time that animation recording begins playing. If not set, the recording will start from the beginning.\n  --anim_recording_stop_time ANIM_RECORDING_STOP_TIME\n                        Set time that animation recording stops playing. If the process is shutdown before the stop time is exceeded,\n                        then the animation is not recorded.\n<\/code><\/pre>\n<p>\u516c\u5f0f\u306edocs\u306b\u66f8\u3044\u3066\u3042\u308b\u3084\u3064\u306f<strong>\u672a\u66f4\u65b0\u306e\u5834\u5408\u304c\u591a\u3044<\/strong>\u306e\u3067\u3001\u5fc5\u305a\u6700\u521d\u306b\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\uff01\n\u3068\u308a\u3042\u3048\u305a\u4eca\u56de\u4f7f\u3046\u306e\u306f\u3053\u306e\u8fba\u308a\u3067\u3059\u3002\u6163\u308c\u3066\u304d\u305f\u3089\u81ea\u5206\u306e\u74b0\u5883\u306b\u5408\u308f\u305b\u3066\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<ul>\n<li>\n<p><code>headless<\/code> IsaacLab\u306eGUI\u3092\u7acb\u3061\u4e0a\u3052\u305a\u306b\u5b66\u7fd2\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3053\u308c\u3092\u3084\u3089\u306a\u3044\u3068\u540c\u3058\u30bf\u30b9\u30af\u3067\u3082\u4f5c\u696d\u6642\u9593\u304c\u7206\u5897\u3059\u308b\u306e\u3067\u6c17\u3092\u3064\u3051\u3066\u304f\u3060\u3055\u3044\n\uff08\u2193<code>headless<\/code>\u30aa\u30d7\u30b7\u30e7\u30f3\u3092\u3064\u3051\u306a\u3044\u3068\u304d\uff09\n<img decoding=\"async\" src=\"https:\/\/qiita-image-store.s3.ap-northeast-1.amazonaws.com\/0\/3446213\/e2a69584-f0a8-4101-a1fa-c107796aff64.png\" alt=\"image.png\">\n\uff08\u2193<code>headless<\/code>\u30aa\u30d7\u30b7\u30e7\u30f3\u3092\u3064\u3051\u305f\u3068\u304d\uff09\n<img decoding=\"async\" src=\"https:\/\/qiita-image-store.s3.ap-northeast-1.amazonaws.com\/0\/3446213\/df2d7680-4c60-43fc-9dd5-44cb763fc835.png\" alt=\"image.png\">\n\uff08\u500d\u4ee5\u4e0a\u306e\u5dee\u304c\u51fa\u3066\u3057\u307e\u3063\u3066\u3044\u308b\u2026\uff09<\/p>\n<\/li>\n<li>\n<p><code>video<\/code> \u3068\u306f\u8a00\u3063\u3066\u3082\u3001\u76ee\u3067\u898b\u3066\u308f\u304b\u308b\u3053\u3068\u3082\u305f\u304f\u3055\u3093\u3042\u308b\u306e\u3067\u3001\u8a13\u7df4\u306e\u69d8\u5b50\u306f\u76e3\u8996\u3057\u3066\u304a\u304f\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u306a\u306e\u3067\u3001\u8a13\u7df4step\u304c\u4e00\u5b9a\u91cf\u306b\u9054\u3059\u308b\u3054\u3068\u77ed\u6642\u9593\u306e\u30d3\u30c7\u30aa\u9332\u753b\u3092\u64ae\u5f71\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u3066\u304a\u304d\u307e\u3059<\/p>\n<\/li>\n<li>\n<p><code>max_iterations<\/code> \u8a13\u7df4\u91cf\u3092\u6c7a\u3081\u308b\u5909\u6570\u3067\u3059\u3002\u3068\u308a\u3042\u3048\u305a<code>10000<\/code>\u304f\u3089\u3044\u306b\u3057\u3066\u304a\u304d\u307e\u3059<\/p>\n<\/li>\n<\/ul>\n<p><img decoding=\"async\" src=\"https:\/\/qiita-image-store.s3.ap-northeast-1.amazonaws.com\/0\/3446213\/82dca0fc-a900-405c-a4c7-bbb1f0be7ecd.png\" alt=\"image.png\">\n\u3053\u3093\u306a\u611f\u3058\u3067video\u306e\u4e2d\u8eab\u3092\u898b\u306a\u304c\u3089\u5b66\u7fd2\u306e\u9032\u307f\u3092\u30c1\u30a7\u30c3\u30af\u3067\u304d\u307e\u3059\uff01<\/p>\n<h1><span class=\"ez-toc-section\" id=\"Tensorboard%E3%81%A7%E8%A8%93%E7%B7%B4%E3%81%8C%E9%80%B2%E3%82%93%E3%81%A7%E3%81%84%E3%82%8B%E3%81%8B%E7%A2%BA%E8%AA%8D%E3%81%97%E3%82%88%E3%81%86\"><\/span><code>Tensorboard<\/code>\u3067\u8a13\u7df4\u304c\u9032\u3093\u3067\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3088\u3046<span class=\"ez-toc-section-end\"><\/span><\/h1>\n<p>\u3053\u3053\u307e\u3067\u3084\u3063\u305f\u3089\u3001\u3042\u3068\u306f\u5bdd\u3066\u904e\u3054\u3059\u3060\u3051\u2026\u307f\u305f\u3044\u306a\u3053\u3068\u3082\u3067\u304d\u308b\u306e\u3067\u3059\u304c\u3001\u6d41\u77f3\u306b\u305d\u308c\u3060\u3068\u30ac\u30c1\u30e3\u3092\u56de\u3057\u3066\u3044\u308b\u3060\u3051\u307f\u305f\u3044\u306a\u611f\u3058\u306b\u306a\u3063\u3066\u3057\u307e\u3046\u306e\u3067\u3001\u8a2d\u5b9a\u3057\u305f\u5831\u916c\u3084\u30da\u30ca\u30eb\u30c6\u30a3\u304c\u304d\u3061\u3093\u3068\u6a5f\u80fd\u3057\u3066\u3044\u308b\u304b\u3001\u5b66\u7fd2\u304c\u8db3\u308a\u3066\u3044\u308b\u304b\u306a\u3069\u3092\u9010\u4e00\u78ba\u8a8d\u3057\u3066\u3044\u304d\u307e\u3057\u3087\u3046\u3002IsaacLab\u306f\u57fa\u672c\u7684\u306b<code>PyTorch<\/code>\u304c\u88cf\u3067\u52d5\u3044\u3066\u3044\u308b\u306e\u3067\u3001\u5404\u7a2e\u30d1\u30e9\u30e1\u30bf\u304c\u53ce\u675f\u3057\u3066\u3044\u308b\u304b\u3069\u3046\u304b\u3092<code>Tensorboard<\/code>\u4e0a\u3067\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<pre><code class=\"language-bash\">tensorboard --logdir logs\/\n<\/code><\/pre>\n<p><img decoding=\"async\" src=\"https:\/\/qiita-image-store.s3.ap-northeast-1.amazonaws.com\/0\/3446213\/0ae8ca91-9316-457a-9420-f887ee5d5cb2.png\" alt=\"image.png\"><\/p>\n<p><img decoding=\"async\" src=\"https:\/\/qiita-image-store.s3.ap-northeast-1.amazonaws.com\/0\/3446213\/18b87b63-9263-4db2-b1d8-6563eae8cc61.png\" alt=\"image.png\"><\/p>\n<p>\u4e00\u3064\u76ee\u306e\u753b\u50cf\u306f\u3042\u3093\u307e\u308a\u5b66\u7fd2\u304c\u9032\u3093\u3067\u3044\u306a\u3044\u6642\u306e\u5831\u916c\u306e\u52d5\u304d\u3001\u4e8c\u3064\u76ee\u306e\u753b\u50cf\u306f\u5b66\u7fd2\u304c\u9032\u3093\u3067\u304d\u305f\u6642\u306e\u5831\u916c\u306e\u52d5\u304d\u3067\u3059\u3002\u5b66\u7fd2\u304c\u7d42\u308f\u3063\u3066\u304f\u308b\u3068\u3001\u3053\u306e\u3088\u3046\u306b\u5831\u916c\u306e\u5897\u6e1b\u304c\u53ce\u675f\u3057\u3066\u304f\u308b\u306e\u3067\u3001\u5168\u3066\u306e\u5831\u916c\u304c\u4e8c\u679a\u76ee\u306e\u3088\u3046\u306a\u63a8\u79fb\u3092\u3057\u3066\u3044\u305f\u5834\u5408\u3001\u305d\u308c\u306f\u3082\u3046\u3053\u308c\u4ee5\u4e0a\u5b66\u7fd2\u3092\u9032\u3081\u3066\u3082\u3042\u3093\u307e\u308a\u610f\u5473\u306a\u3044\u304b\u306a\u301c\u301c\u3068\u3044\u3046\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<h1><span class=\"ez-toc-section\" id=\"%E5%86%8D%E7%94%9F%E3%81%97%E3%81%A6%E3%81%BF%E3%82%8B\"><\/span>\u518d\u751f\u3057\u3066\u307f\u308b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n<p>\u4eca\u307e\u3067\u8aac\u660e\u3057\u3066\u304d\u305f\u3088\u3046\u306b\u3001\u5f37\u5316\u5b66\u7fd2\u306e\u4e2d\u8eab\u306fNN\u306a\u306e\u3067\u3001\u5b66\u7fd2\u30c7\u30fc\u30bf\u306f<code>*.pyth<\/code>\u306b\u4fdd\u5b58\u3055\u308c\u3066\u3044\u307e\u3059\u3002\uff08\u3053\u308c\u81ea\u4f53\u306e\u30b5\u30a4\u30ba\u306f\u6570\u767eMB\u304f\u3089\u3044\u306a\u306e\u3067\u3001\u305f\u3044\u3057\u305f\u91cd\u3055\u3067\u306f\u306a\u3044\u3067\u3059\uff09\n\u306a\u306e\u3067\u3001\u8a13\u7df4\u3057\u305f\u3089\u3001\u3053\u306e\u91cd\u307f\u30d5\u30a1\u30a4\u30eb\u3092\u30ed\u30fc\u30c9\u3057\u3066\u518d\u751f\u3059\u308b\u3068\u3044\u3046\u6d41\u308c\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<pre><code class=\"language-bash\">usage: play.py [-h] [--video] [--video_length VIDEO_LENGTH] [--disable_fabric] [--num_envs NUM_ENVS] [--task TASK] [--agent AGENT] [--checkpoint CHECKPOINT]\n               [--seed SEED] [--use_pretrained_checkpoint] [--ml_framework {torch,jax,jax-numpy}] [--algorithm {AMP,PPO,IPPO,MAPPO}] [--real-time] [--headless]\n               [--livestream {0,1,2}] [--enable_cameras] [--xr] [--device DEVICE] [--verbose] [--info] [--experience EXPERIENCE]\n               [--rendering_mode {quality,balanced,performance}] [--kit_args KIT_ARGS] [--anim_recording_enabled]\n               [--anim_recording_start_time ANIM_RECORDING_START_TIME] [--anim_recording_stop_time ANIM_RECORDING_STOP_TIME]\n<\/code><\/pre>\n<p>\u4eca\u56de\u306f\u76f4\u63a5GUI\u3092\u52d5\u304b\u3059\u306e\u3067\u3001<code>task<\/code>\u3001<code>checkpoint<\/code>\u306e\u4e8c\u3064\u306e\u30aa\u30d7\u30b7\u30e7\u30f3\u3057\u304b\u4f7f\u3044\u307e\u305b\u3093\u3002\n<code>checkpoint<\/code>\u3067<code>logs<\/code>\u306b\u3042\u308b\u91cd\u307f\u30d5\u30a1\u30a4\u30eb\u3092\u9078\u629e\u3057\u3001\u5b9f\u884c\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n<pre><code class=\"language-bash\">python scripts\/reinforcement_learning\/skrl\/play.py --task=Isaac-Velocity-Flat-Unitree-Go1-v0 --checkpoints  logs\/skrl\/unitree_go2_flat\/2025-11-28_09-50-27_ppo_torch\/checkpoint\/best_agent.pt\n<\/code><\/pre>\n<p><img decoding=\"async\" src=\"https:\/\/qiita-image-store.s3.ap-northeast-1.amazonaws.com\/0\/3446213\/eb4fb2f3-fbda-4f7b-b91a-e89a1bfae1be.gif\" alt=\"isaaclab.gif\"><\/p>\n<p>\u52d5\u304b\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3057\u305f\uff01\uff01<\/p>\n<h1><span class=\"ez-toc-section\" id=\"%E7%B5%82%E3%82%8F%E3%82%8A%E3%81%AB\"><\/span>\u7d42\u308f\u308a\u306b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n<p>\u4eca\u56de\u3067IsaacLab\u306e\u57fa\u672c\u7684\u306a\u5b66\u7fd2\u624b\u6cd5\u3092\u7d39\u4ecb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u305f\u306e\u3067\u3001\u6b21\u306fSim2Sim,Sim2Real\u306a\u3069\u306e\u3088\u308a\u5b9f\u8df5\u7684\u306a\u65b9\u6cd5\u306b\u3064\u3044\u3066\u3082\u8a18\u4e8b\u3092\u6b8b\u3057\u3066\u3044\u304d\u305f\u3044\u3067\u3059\u3002<\/p>\n<h1><span class=\"ez-toc-section\" id=\"%E5%89%8D%E5%9B%9E%E3%81%AE%E8%A8%98%E4%BA%8B\"><\/span>\u524d\u56de\u306e\u8a18\u4e8b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n<p><a href=\"https:\/\/qiita.com\/ginyoku102\/items\/82cccef96d134bc16090\">Isaac Lab 2026\u3011\u30b3\u30fc\u30c9\u30d9\u30fc\u30b9\u3067\u8aad\u307f\u89e3\u304fUnitree Go2\u5f37\u5316\u5b66\u7fd2\u306e\u5b9f\u88c5\u3068\u7406\u89e3\uff1a\u7406\u89e3\u7de8<\/a><\/p>\n<\/div>\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":1,"featured_media":378,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[27],"tags":[],"class_list":["post-526","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-howto"],"aioseo_notices":[],"jetpack_featured_media_url":"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/Screenshot-from-2025-06-20-14-41-06.png","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/526","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=526"}],"version-history":[{"count":1,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/526\/revisions"}],"predecessor-version":[{"id":527,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/526\/revisions\/527"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/media\/378"}],"wp:attachment":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=526"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=526"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=526"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}